Delete NewModel/v2

NewModel/v2/README.md

@@ -1,51 +0,0 @@
-# NewModel v2: active full-vision policies
-
-This release contains the 16 audited active checkpoints:
-
-`DiT-S/B × raw/B-spline × FM/joint-DD × base/ttRTC`.
-
-Every observation uses two complete 16×16 vision-token grids: 256 tokens per
-camera and 512 total. Base checkpoints were trained for 50,000 updates and
-ttRTC children for 5,000 updates at effective batch size 32. DiT-L and
-layerwise DD are retired and intentionally absent from v2; they remain in v1
-for historical reproduction.
-
-## Layout
-
-- `dit_{s,b}/{raw,bspline}/checkpoints/`: final checkpoints, W&B identity
-  sidecars, and checkpoint manifests.
-- `sidecars/{raw,bspline}/`: action codec, calibration, normalization, and
-  split metadata required by the loader.
-- `configs/`: the four active full-vision configurations.
-- `evaluation/`: completion audit, 16-row metrics, plots, deployment
-  validation, decoder validation, and bilingual summaries.
-- `deployment/`: server/client contract and RTC validation report.
-
-## RTC deployment contract
-
-All checkpoints support ordinary `infer`. Only RTC/ttRTC checkpoints support
-`infer_realtime`.
-
-| Representation | Previous value required by `infer_realtime` | Shape | Coordinates |
-| --- | --- | --- | --- |
-| raw | `prev_action_chunk` | `[B,30,7]` | physical actions returned by the previous request |
-| B-spline | `prev_control_rows` | `[B,18,7]` | normalized spline controls returned as `normalized_control_rows` |
-
-`inference_delay` is an integer from 1 through 10 in raw 30 Hz action steps.
-The B-spline endpoint intentionally rejects decoded action chunks: RTC must
-preserve and shift the parameter-space controls. The server is stateless;
-clients explicitly return the previous chunk or control rows with each RTC
-request.
-
-The repository loader automatically discovers `sidecars/{raw,bspline}` when
-the versioned directory structure is retained. See `deployment/README.md` for
-server and client examples.
-
-## Verification
-
-- 16/16 local and remote-W&B completion audit.
-- DiT-S and DiT-B deployment matrices: 8/8 runtime cases each.
-- Raw and B-spline RTC verified through the real msgpack/WebSocket interface
-  with finite `[1,30,7]` actions and correct hard-prefix metadata.
-- Joint cached/fused decoding is token-identical for all eight joint-DD
-  checkpoints.

NewModel/v2/configs/dit_b_bspline.yaml

@@ -1,14 +0,0 @@
-extends: ../model_size_sweep/dit_b_bspline.yaml
-data:
-  prepared_path: outputs/FULL_VISION_512/cache/bspline
-  vision_cache_path: outputs/FULL_VISION_512/cache/vision
-vision:
-  pooled_grid: 16
-train:
-  validation_max_batches: 4
-  rtc_learning_rate: 0.00003
-wandb:
-  base_project: robot-policy-full-vision-512-basic
-  rtc_project: robot-policy-full-vision-512-ttRTC
-  run_suffix: dit-b-bspline-512vision-generation-val
-  output_dir: outputs/FULL_VISION_512/dit_b/bspline/wandb

NewModel/v2/configs/dit_b_raw.yaml

@@ -1,14 +0,0 @@
-extends: ../model_size_sweep/dit_b_raw.yaml
-data:
-  prepared_path: outputs/FULL_VISION_512/cache/raw
-  vision_cache_path: outputs/FULL_VISION_512/cache/vision
-vision:
-  pooled_grid: 16
-train:
-  validation_max_batches: 4
-  rtc_learning_rate: 0.00003
-wandb:
-  base_project: robot-policy-full-vision-512-basic
-  rtc_project: robot-policy-full-vision-512-ttRTC
-  run_suffix: dit-b-raw-512vision-generation-val
-  output_dir: outputs/FULL_VISION_512/dit_b/raw/wandb

NewModel/v2/configs/dit_s_bspline.yaml

@@ -1,14 +0,0 @@
-extends: ../model_size_sweep/dit_s_bspline.yaml
-data:
-  prepared_path: outputs/FULL_VISION_512/cache/bspline
-  vision_cache_path: outputs/FULL_VISION_512/cache/vision
-vision:
-  pooled_grid: 16
-train:
-  validation_max_batches: 4
-  rtc_learning_rate: 0.00003
-wandb:
-  base_project: robot-policy-full-vision-512-basic
-  rtc_project: robot-policy-full-vision-512-ttRTC
-  run_suffix: dit-s-bspline-512vision-generation-val
-  output_dir: outputs/FULL_VISION_512/dit_s/bspline/wandb

NewModel/v2/configs/dit_s_raw.yaml

@@ -1,14 +0,0 @@
-extends: ../model_size_sweep/dit_s_raw.yaml
-data:
-  prepared_path: outputs/FULL_VISION_512/cache/raw
-  vision_cache_path: outputs/FULL_VISION_512/cache/vision
-vision:
-  pooled_grid: 16
-train:
-  validation_max_batches: 4
-  rtc_learning_rate: 0.00003
-wandb:
-  base_project: robot-policy-full-vision-512-basic
-  rtc_project: robot-policy-full-vision-512-ttRTC
-  run_suffix: dit-s-raw-512vision-generation-val
-  output_dir: outputs/FULL_VISION_512/dit_s/raw/wandb

NewModel/v2/deployment/README.md

@@ -1,164 +0,0 @@
-# Policy-server deployment
-
-This server exposes every active checkpoint in `outputs/FULL_VISION_512`
-through the same
-msgpack-over-WebSocket envelope used by the previous Piper deployment:
-
-- handshake: server metadata is sent immediately after connection;
-- request: `{"type":"infer","request_id":...,"payload":{"examples":[...]}}`;
-- response: `response["data"]["actions"]`, shape `[B,30,7]`, already in
-  physical absolute Piper coordinates;
-- realtime request type: `infer_realtime`;
-- transport: WebSocket, compression disabled, NumPy-aware msgpack.
-
-The implementation is in `src/robot_policy/deployment`. It loads architecture,
-model size, representation, sampling settings, and normalization from the
-checkpoint itself. An operator does not select a separate model YAML. For the
-versioned Hugging Face package it automatically resolves shared immutable
-sidecars from `NewModel/v2/sidecars/{raw,bspline}`; `--prepared-path` remains
-available for custom layouts.
-
-## Observation and action contract
-
-Each example is:
-
-```python
-{
-    "image": [global_rgb, hand_rgb],  # HWC uint8, exact order
-    "state": normalized_state[None, :],  # shape [1,7]
-    "lang": "Stack the cups.",
-}
-```
-
-The server resizes both RGB images to 224x224 and applies the same frozen
-DINOv2 + SigLIP preprocessing as training. The default `state` contract is the
-legacy Piper client's min/max normalization to `[-1,1]`. The server inverts
-that transform and then applies this codebase's training z-score. Requests can
-instead set `state_coordinates="physical"` or `state_coordinates="zscore"`.
-
-The language string is checked because this checkpoint is task-specific, but
-these compact policies were not trained with language tokens. A different
-instruction is rejected rather than silently implying language conditioning.
-
-Actions are decoded inside the server:
-
-- raw checkpoints: 30x7 normalized actions -> q01/q99 unnormalization;
-- B-spline checkpoints: 18x7 controls -> authoritative smooth cubic 30x18
-  basis multiplication -> 30x7 normalized actions -> q01/q99
-  unnormalization;
-- the gripper is projected to 0/1 at physical threshold 0.3 by default.
-
-## Start a server
-
-From `robot_policy`:
-
-```bash
-export CKPT="$PWD/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_base.pt"
-CUDA_VISIBLE_DEVICES=0 deployment/run_policy_server.sh
-```
-
-Equivalent direct invocation:
-
-```bash
-PYTHONPATH=src /home/wangpc/miniconda3/envs/starVLA/bin/python \
-  -m robot_policy.deployment.server \
-  --ckpt_path outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_base.pt \
-  --port 10093 --device cuda --precision bf16
-```
-
-Useful switches are `--no-binary-gripper`, `--gripper-threshold`,
-`--prepared-path`, `--host`, and `--idle-timeout`.
-
-Before using the existing Piper live client, export its expected statistics:
-
-```bash
-PYTHONPATH=src /home/wangpc/miniconda3/envs/starVLA/bin/python \
-  -m robot_policy.deployment.export_stats \
-  --ckpt_path "$CKPT" \
-  --output outputs/FULL_VISION_512/summary/deployment/piper_dataset_statistics.json \
-  --start-output outputs/FULL_VISION_512/summary/deployment/stacking_cups_start_statistics.json
-```
-
-Pass that JSON as the Piper client's `--stats` file. It deliberately exposes
-the training-episode physical state range for the legacy client transform;
-the server converts the resulting min/max-normalized state to the z-score used
-during this policy's training.
-
-Pass the second JSON as `--start-stats`; it contains min/max/median over the
-first physical state of all 52 stacking-cups demonstrations, as required by
-the handoff's guarded start-pose check.
-
-## Base and ttRTC behavior
-
-All 16 active checkpoints support ordinary `infer`. An RTC/ttRTC checkpoint also
-supports `infer_realtime`, with a strict representation contract:
-
-| Checkpoint | Required previous field | Coordinates | Delay |
-| --- | --- | --- | --- |
-| raw ttRTC | `prev_action_chunk`, `[B,30,7]` | physical robot actions returned by the prior call | 1..10 raw 30 Hz steps |
-| B-spline ttRTC | `prev_control_rows`, `[B,18,7]` | normalized spline controls returned as `normalized_control_rows` by the prior call | 1..10 raw 30 Hz steps |
-
-The B-spline endpoint rejects decoded 30x7 actions. A delay of `d` raw steps
-shifts and refits the prior curve, maps to `ceil(d/2)` affected spline spans,
-and preserves `ceil(d/2)+3` cubic-support control rows. It never treats a
-30 Hz action index as a control-row index.
-
-The former Piper async client can be used unchanged for raw ttRTC. It cannot
-be used unchanged for B-spline ttRTC because it discards control rows. Use
-`robot_policy.deployment.PolicyClient`, which retains them:
-
-```python
-from robot_policy.deployment import PolicyClient
-
-with PolicyClient("127.0.0.1", 10093) as client:
-    first = client.predict_action([example])
-    second = client.predict_action_realtime(
-        [next_example],
-        inference_delay=3,
-        previous=first["normalized_control_rows"],
-    )
-```
-
-The server is stateless across requests and clients. RTC history is explicit
-in each request, preventing one robot/client from inheriting another client's
-plan.
-
-## Safety and dry-run boundary
-
-This package performs inference only. It does not publish robot commands. Keep
-the reference Piper client in dry-run mode until camera order, state units,
-task string, 30 Hz execution, action range, start pose, gripper direction, and
-emergency-stop behavior have been verified. Do not add `--execute` merely
-because server inference succeeds.
-
-With the server running, the existing reference live client can be exercised
-without robot commands as follows (there is intentionally no `--execute`):
-
-```bash
-cd /scratch/wangpc/DiscreteRTCv2
-/home/wangpc/miniconda3/envs/starVLA/bin/python \
-  examples/realRobots/Piper/eval_files/piper_live_client.py \
-  --host 127.0.0.1 --port 10093 \
-  --stats /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/summary/deployment/piper_dataset_statistics.json \
-  --start-stats /scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/summary/deployment/stacking_cups_start_statistics.json \
-  --task "Stack the cups." --rate-hz 30 --duration 30 \
-  --save-viewer-data
-```
-
-For a raw ttRTC checkpoint, the reference
-`piper_async_training_rtc_client.py` recognizes the advertised
-`rtc_mode=training_time_hard_prefix` and can use `infer_realtime`. The server
-advertises this sweep's trained maximum of 10 raw action steps and never
-silently accepts a larger delay.
-
-## Verification
-
-```bash
-cd /scratch/wangpc/B-Spline-Inpainting/robot_policy
-PYTHONPATH=src /home/wangpc/miniconda3/envs/starVLA/bin/python -m pytest -q
-```
-
-Deployment coverage includes checkpoint-sidecar validation for all 16 active
-files, FM and joint-DD across both representations, both RTC conditioning spaces,
-prefix preservation, invalid-shape/task/delay rejection, NumPy serialization,
-router errors, and a real localhost WebSocket handshake/inference round-trip.

NewModel/v2/deployment/RTC_INTERFACE_CN.md

@@ -1,40 +0,0 @@
-# RTC 部署接口验证
-
-日期：2026-09-18
-
-## 结论
-
-当前 msgpack/WebSocket 部署接口可以正确支持两种主动动作表示的 RTC 推理。
-验证使用真实策略服务器、公开 `PolicyClient`、GPU 上的真实 DiT-S ttRTC
-checkpoint 以及 localhost 网络序列化，而不只是直接调用 Python wrapper。
-
-| 动作表示 | 测试策略 | 必需的历史输入 | delay=3 结果 |
-| --- | --- | --- | --- |
-| raw | FM ttRTC | 物理坐标 `prev_action_chunk`，`[1,30,7]` | 有限 `[1,30,7]`；固定 3 个动作行 |
-| B-spline | joint-DD ttRTC | 归一化 `prev_control_rows`，`[1,18,7]` | 有限 `[1,30,7]`；影响 2 个 span，固定 5 个三次样条支撑控制行 |
-
-服务器在握手元数据中声明接口约定。`PolicyClient` 读取
-`rtc_requires_previous_field`，并通过 `infer_realtime` 发送对应字段。延迟单位是
-30 Hz raw action step，严格限制为 1–10。Base checkpoint 会拒绝 realtime
-请求。服务器不会在客户端之间共享计划缓存；每个请求都显式携带上一段计划。
-
-## B-spline 的关键限制
-
-B-spline RTC 必须接收上一请求返回的归一化参数行，并会主动拒绝解码后的
-30×7 动作。重新拟合和三次样条支撑扩展会把 raw delay 3 映射为 2 个受影响
-span 和 5 个保留控制行，从而避免把 raw action 索引误当作样条控制行索引。
-
-## 本次加固
-
-真实网络测试发现 msgpack 解码的 NumPy buffer 可能是只读的。部署边界现在会先
-创建自有的 float32 副本，再把历史动作或控制行转换成 torch tensor，避免传输
-buffer 别名并消除 PyTorch 的只读数组警告。版本化 Hugging Face 目录现在也能
-自动发现 `vN/sidecars/{raw,bspline}`。
-
-## 证据
-
-- `outputs/FULL_VISION_512/summary/deployment/rtc_websocket_validation.json`
-- `outputs/FULL_VISION_512/summary/deployment_validation_dit_{s,b}.json`
-- 完整项目测试，包括只读传输数组与版本化 release sidecar 自动发现。
-
-该验证仅证明策略服务器推理接口可用，不等同于闭环机器人安全验证或任务成功率。

NewModel/v2/deployment/RTC_INTERFACE_EN.md

@@ -1,47 +0,0 @@
-# RTC deployment-interface verification
-
-Date: 2026-09-18
-
-## Result
-
-The deployed msgpack/WebSocket interface supports RTC inference correctly for
-both active action representations. Verification used the real policy server,
-the public `PolicyClient`, real DiT-S ttRTC checkpoints on GPU, and localhost
-wire serialization—not only direct Python wrapper calls.
-
-| Representation | Tested policy | Required history | Delay 3 result |
-| --- | --- | --- | --- |
-| raw | FM ttRTC | physical `prev_action_chunk`, `[1,30,7]` | finite `[1,30,7]`; 3 fixed action rows |
-| B-spline | joint-DD ttRTC | normalized `prev_control_rows`, `[1,18,7]` | finite `[1,30,7]`; 2 affected spans and 5 fixed cubic-support rows |
-
-The server advertises the contract in its handshake. `PolicyClient` reads
-`rtc_requires_previous_field` and sends the matching field through
-`infer_realtime`. Delay is measured in raw 30 Hz action steps and is strictly
-limited to 1–10. Base checkpoints reject realtime calls. The server keeps no
-cross-client plan cache; the previous plan is explicit in every request.
-
-## Important B-spline constraint
-
-B-spline RTC must receive the normalized parameter rows returned by the prior
-request. It intentionally rejects decoded 30×7 actions. Re-fitting and cubic
-support expansion map raw delay 3 to two affected spans and five preserved
-control rows, avoiding the incorrect assumption that raw action indices equal
-spline-control indices.
-
-## Hardening performed
-
-The live wire test revealed that msgpack-decoded NumPy arrays can be read-only.
-The deployment boundary now creates an owned float32 copy before converting
-previous actions or control rows to torch tensors. This prevents transport
-buffer aliasing and removes PyTorch's non-writable-array warning. Versioned
-Hugging Face layouts now auto-resolve `vN/sidecars/{raw,bspline}`.
-
-## Evidence
-
-- `outputs/FULL_VISION_512/summary/deployment/rtc_websocket_validation.json`
-- `outputs/FULL_VISION_512/summary/deployment_validation_dit_{s,b}.json`
-- Full project test suite, including read-only transport arrays and versioned
-  release sidecar discovery.
-
-This validates policy-server inference only; it does not constitute a
-closed-loop robot safety or task-success validation.

NewModel/v2/deployment/run_policy_server.sh

@@ -1,25 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-
-PROJECT_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
-POLICY_PYTHON="${ROBOT_POLICY_PYTHON:-/home/wangpc/miniconda3/envs/starVLA/bin/python}"
-CHECKPOINT="${CKPT:?Set CKPT to a robot_policy .pt checkpoint}"
-PORT="${PORT:-10093}"
-DEVICE="${DEVICE:-cuda}"
-PRECISION="${PRECISION:-bf16}"
-
-cd "${PROJECT_ROOT}"
-export PYTHONPATH="${PROJECT_ROOT}/src${PYTHONPATH:+:${PYTHONPATH}}"
-
-arguments=(
-  -m robot_policy.deployment.server
-  --ckpt_path "${CHECKPOINT}"
-  --port "${PORT}"
-  --device "${DEVICE}"
-  --precision "${PRECISION}"
-)
-if [[ -n "${PREPARED_PATH:-}" ]]; then
-  arguments+=(--prepared-path "${PREPARED_PATH}")
-fi
-exec "${POLICY_PYTHON}" "${arguments[@]}" "$@"
-

NewModel/v2/dit_b/bspline/checkpoints/checkpoint_manifest.json

@@ -1,2200 +0,0 @@
-{
-  "checkpoints": [
-    {
-      "architecture": "fm",
-      "training_type": "base",
-      "parent_checkpoint": null,
-      "file_path": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_base.pt",
-      "sha256": "d6fbebf045361e2c34ceee39e1ffa28b6f394d7b9b47ed95b6cd53dd235a9e44",
-      "configuration": {
-        "data": {
-          "dataset_path": "../Data/stacking_cups_action_30hz",
-          "prepared_path": "outputs/FULL_VISION_512/cache/bspline",
-          "action_representation": "bspline",
-          "vision_cache_path": "outputs/FULL_VISION_512/cache/vision",
-          "camera_keys": [
-            "observation.images.global",
-            "observation.images.hand"
-          ],
-          "state_key": "observation.state",
-          "action_key": "action",
-          "observation_horizon": 1,
-          "action_horizon": 30,
-          "frequency_hz": 30.0,
-          "split_seed": 20260915,
-          "train_episodes": 42,
-          "val_episodes": 5,
-          "test_episodes": 5
-        },
-        "spline": {
-          "degree": 3,
-          "span_length_steps": 2,
-          "num_basis": 18,
-          "vocab_size": 256,
-          "regularization": 0.0001,
-          "implementation_version": "uniform_left_direct_fit_v1"
-        },
-        "vision": {
-          "image_size": 224,
-          "pooled_grid": 16,
-          "dino_model": "vit_large_patch14_reg4_dinov2.lvd142m",
-          "siglip_model": "vit_so400m_patch14_siglip_224",
-          "extraction_layer_offset": -2,
-          "pretrained": true,
-          "cache_dtype": "float16"
-        },
-        "policy": {
-          "architecture": "fm",
-          "model_size": "DiT-B",
-          "hidden_dim": 768,
-          "depth": 12,
-          "heads": 12,
-          "mlp_ratio": 4.0,
-          "dropout": 0.0,
-          "discrete_rounds": 8,
-          "block_size": 21,
-          "fm_steps": 12
-        },
-        "train": {
-          "seed": 7,
-          "updates": 50000,
-          "rtc_updates": 5000,
-          "batch_size": 32,
-          "effective_batch_size": 32,
-          "learning_rate": 0.0003,
-          "rtc_learning_rate": 3e-05,
-          "weight_decay": 0.0001,
-          "warmup_updates": 100,
-          "min_lr_ratio": 0.1,
-          "grad_clip": 1.0,
-          "fm_grad_skip_threshold": 3.0,
-          "fm_rtc_grad_skip_threshold": 100.0,
-          "fm_grad_skip_after_updates": 1000,
-          "fm_math_sdp_training": true,
-          "eval_every": 100,
-          "validation_max_batches": 4,
-          "save_every": 1000,
-          "num_workers": 4,
-          "precision": "bf16",
-          "lambda_l1": 1.0,
-          "deterministic": true
-        },
-        "rtc": {
-          "spline_delay_min": 1,
-          "spline_delay_max": 5,
-          "raw_delay_min": 1,
-          "raw_delay_max": 10,
-          "delay_distribution": "truncated_decreasing_exponential_reference",
-          "zero_delay_eval": true
-        },
-        "wandb": {
-          "enabled": true,
-          "mode": "online",
-          "entity": "401910710-university-of-california-berkeley",
-          "base_project": "robot-policy-full-vision-512-basic",
-          "rtc_project": "robot-policy-full-vision-512-ttRTC",
-          "run_suffix": "dit-b-bspline-512vision-generation-val",
-          "output_dir": "outputs/FULL_VISION_512/dit_b/bspline/wandb"
-        }
-      },
-      "code_commit": "root repository has no commit",
-      "code_snapshot_sha256": "87a4fbf20df70c7dd63a6577cb5a9b00f7216c87eda2b0badd3b25cb8eb19611",
-      "data_split": {
-        "train": [
-          0,
-          1,
-          2,
-          3,
-          4,
-          5,
-          6,
-          9,
-          10,
-          11,
-          12,
-          13,
-          14,
-          15,
-          20,
-          23,
-          24,
-          25,
-          26,
-          27,
-          28,
-          29,
-          30,
-          31,
-          32,
-          33,
-          35,
-          36,
-          37,
-          38,
-          39,
-          40,
-          41,
-          42,
-          44,
-          45,
-          46,
-          47,
-          48,
-          49,
-          50,
-          51
-        ],
-        "val": [
-          7,
-          16,
-          17,
-          21,
-          43
-        ],
-        "test": [
-          8,
-          18,
-          19,
-          22,
-          34
-        ]
-      },
-      "encoder_version": {
-        "type": "UniformLeftBSplineConfig",
-        "config": {
-          "action_dim": 7,
-          "chunk_size": 30,
-          "frequency_hz": 30.0,
-          "degree": 3,
-          "num_basis": 18,
-          "span_length_steps": 2,
-          "vocab_size": 256,
-          "regularization": 0.0001,
-          "end_padding": true,
-          "mode": "uniform_left",
-          "implementation_version": "uniform_left_direct_fit_v1"
-        },
-        "tokenizer_id": "3282a6009a52b9a0",
-        "calibration": {
-          "low": [
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NewModel/v2/dit_s/raw/checkpoints/discrete_joint_base.pt

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-version https://git-lfs.github.com/spec/v1
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NewModel/v2/dit_s/raw/checkpoints/discrete_joint_base.pt.wandb.json

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-{
-  "project": "robot-policy-full-vision-512-basic",
-  "entity": "401910710-university-of-california-berkeley",
-  "run_id": "x1vtxm13",
-  "run_name": "discrete_joint-base-dit-s-raw-512vision-generation-val",
-  "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13",
-  "mode": "online",
-  "output_checkpoint": "/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/discrete_joint_base.pt"
-}

NewModel/v2/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt

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-version https://git-lfs.github.com/spec/v1
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NewModel/v2/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt.wandb.json

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-{
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-  "entity": "401910710-university-of-california-berkeley",
-  "run_id": "6cyontjw",
-  "run_name": "discrete_joint-ttrtc-dit-s-raw-512vision-generation-val",
-  "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw",
-  "mode": "online",
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NewModel/v2/dit_s/raw/checkpoints/fm_base.pt

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-{
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-  "run_id": "70newtq7",
-  "run_name": "fm-base-dit-s-raw-512vision-generation-val",
-  "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7",
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NewModel/v2/dit_s/raw/checkpoints/fm_ttrtc.pt

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NewModel/v2/dit_s/raw/checkpoints/fm_ttrtc.pt.wandb.json

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-{
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-  "entity": "401910710-university-of-california-berkeley",
-  "run_id": "zt8fra2l",
-  "run_name": "fm-ttrtc-dit-s-raw-512vision-generation-val",
-  "url": "https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l",
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NewModel/v2/evaluation/SUMMARY_CN.md

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-# 全视觉 Token FM 与 Joint-DD 结果
-
-## 实验协议
-
-- 共 16 个检查点：DiT-S/B × raw/B-spline × FM/joint DD × base/ttRTC。
-- 每个观测保留两个完整的 16×16 patch 网格，即 **512 个视觉 token**，并追加 1 个状态 token。
-- 基础训练 50,000 次更新，ttRTC 训练 5,000 次更新，有效 batch size 为 32。
-- `validation/action_mse` 来自从零开始的完整生成。采样器只接收视觉与状态，不接收目标动作、被扰动的真值或教师辅助信息。
-- 后续评测包含完整测试集开环生成、延迟 RTC、oracle-prefix inference RTC 和 batch-1 同步延迟。
-- 在每个 DiT 尺寸内，raw 与 B-spline 的 RTCEVAL 指标图共享同一组对数物理 MSE 纵轴范围；全部轨迹图按动作维度共享完整数据集的物理最小值/最大值。
-
-## 主要结果
-
-- 最佳物理 MSE 为 **0.008187**（DiT-B / raw / fm / ttrtc）。
-- 在严格配对中，B-spline 有 5/8 组更优；物理 MSE 降幅中位数为 13.33%。
-- ttRTC 在零延迟开环对比中有 6/8 组更优；降幅中位数为 0.55%。
-- Joint cache 融合解码在 8/8 个检查点上逐 token 一致。
-- FM 在 1,000 次 warm-up 更新之后共拒绝了 5625 次异常优化器更新；每次被拒绝的更新及其裁剪前梯度范数都完整保留在记录中。
-- DiT-S、DiT-B 的部署验证均通过全部 8 个运行时用例；每份审计都清点全部 16 个检查点，并从两路各 256-token 的相机输入生成有限的 30×7 动作。
-
-## 证据
-
-- `completion_audit.json`：检查点身份、精确更新数、哈希、父模型谱系、有限梯度、从零验证、四类评测以及本地/远端 W&B 状态。
-- `summary/deployment_validation_dit_{s,b}.json`：对全部 raw/B-spline × FM/joint-DD × base/ttRTC 组合执行真实 GPU 加载与推理。
-- `summary/checkpoint_metrics.csv`：完整 16 行指标；`ranking_by_physical_mse.csv` 与 `pairwise_effects.csv`：排名和严格配对效应。
-- 这些结果属于开环动作生成诊断，不代表闭环任务成功率。
-
-## 全部检查点
-
-| size | repr. | policy | stage | val gen MSE | test physical MSE | p50 ms | W&B |
-|---|---|---|---|---|---|---|---|
-| DiT-S | raw | fm | base | 0.007611 | 0.010827 | 25.61 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7) |
-| DiT-S | raw | fm | ttrtc | 0.008254 | 0.008333 | 15.39 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l) |
-| DiT-S | raw | discrete_joint | base | 0.026301 | 0.023261 | 150.83 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13) |
-| DiT-S | raw | discrete_joint | ttrtc | 0.025776 | 0.022973 | 156.25 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw) |
-| DiT-S | bspline | fm | base | 0.008366 | 0.008506 | 24.01 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/k2plilzb) |
-| DiT-S | bspline | fm | ttrtc | 0.008092 | 0.008409 | 24.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zxp7uffq) |
-| DiT-S | bspline | discrete_joint | base | 0.024129 | 0.019029 | 80.88 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/ivclz1i6) |
-| DiT-S | bspline | discrete_joint | ttrtc | 0.025541 | 0.019057 | 84.87 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/efg4vkqh) |
-| DiT-B | raw | fm | base | 0.006808 | 0.008203 | 68.15 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/mz36ylrg) |
-| DiT-B | raw | fm | ttrtc | 0.007001 | 0.008187 | 68.32 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zip5w0in) |
-| DiT-B | raw | discrete_joint | base | 0.015395 | 0.019526 | 298.37 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/c7mgy7f0) |
-| DiT-B | raw | discrete_joint | ttrtc | 0.017608 | 0.020072 | 295.84 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/26qllqsn) |
-| DiT-B | bspline | fm | base | 0.007076 | 0.008330 | 37.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/f581nhyj) |
-| DiT-B | bspline | fm | ttrtc | 0.006578 | 0.008320 | 37.38 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/wo8veppb) |
-| DiT-B | bspline | discrete_joint | base | 0.025449 | 0.017233 | 167.97 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/lwoiqslq) |
-| DiT-B | bspline | discrete_joint | ttrtc | 0.026583 | 0.017078 | 163.03 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/680zgije) |

NewModel/v2/evaluation/SUMMARY_EN.md

@@ -1,47 +0,0 @@
-# Full-Vision FM and Joint-DD Results
-
-## Protocol
-
-- 16 checkpoints: DiT-S/B × raw/B-spline × FM/joint DD × base/ttRTC.
-- Every observation contains two complete 16×16 patch grids: **512 vision tokens**, plus one state token.
-- Base training uses 50,000 updates; ttRTC uses 5,000 updates; effective batch size is 32.
-- `validation/action_mse` is decoded generation from scratch. The sampler receives only vision and state; it never receives target actions, corrupted ground truth, or teacher assistance.
-- Evaluation includes full held-out open-loop generation, delay RTC, oracle-prefix inference RTC, and synchronized batch-1 latency.
-- Within each DiT size, raw and B-spline RTCEVAL metric plots share one log physical-MSE y-axis; all trajectory plots share the same full-dataset physical min/max for each action dimension.
-
-## Findings
-
-- Best decoded physical MSE: **0.008187** (DiT-B / raw / fm / ttrtc).
-- B-spline wins 5/8 matched comparisons; median physical-MSE reduction is 13.33%.
-- ttRTC wins 6/8 matching zero-delay open-loop comparisons; median reduction is 0.55%.
-- Joint cached/fused decoding is token-identical in 8/8 checkpoints.
-- FM rejected 5625 anomalous optimizer updates after the 1,000-update warm-up; every rejected step remains recorded with its pre-clip norm.
-- Deployment validation passes all 8 runtime cases for each of DiT-S and DiT-B; each audit inventories all 16 checkpoints and produces finite 30×7 actions from two 256-token camera streams.
-
-## Evidence
-
-- `completion_audit.json`: checkpoint identity, exact update counts, hashes, parent lineage, finite gradients, from-scratch validation, all four evaluation families, and local/remote W&B state.
-- `summary/deployment_validation_dit_{s,b}.json`: real-GPU load and inference for every raw/B-spline × FM/joint-DD × base/ttRTC case.
-- `summary/checkpoint_metrics.csv`: complete 16-row metric table; `ranking_by_physical_mse.csv` and `pairwise_effects.csv`: rankings and matched effects.
-- Results are open-loop action-generation diagnostics, not closed-loop task-success measurements.
-
-## All checkpoints
-
-| size | repr. | policy | stage | val gen MSE | test physical MSE | p50 ms | W&B |
-|---|---|---|---|---|---|---|---|
-| DiT-S | raw | fm | base | 0.007611 | 0.010827 | 25.61 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7) |
-| DiT-S | raw | fm | ttrtc | 0.008254 | 0.008333 | 15.39 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l) |
-| DiT-S | raw | discrete_joint | base | 0.026301 | 0.023261 | 150.83 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13) |
-| DiT-S | raw | discrete_joint | ttrtc | 0.025776 | 0.022973 | 156.25 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw) |
-| DiT-S | bspline | fm | base | 0.008366 | 0.008506 | 24.01 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/k2plilzb) |
-| DiT-S | bspline | fm | ttrtc | 0.008092 | 0.008409 | 24.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zxp7uffq) |
-| DiT-S | bspline | discrete_joint | base | 0.024129 | 0.019029 | 80.88 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/ivclz1i6) |
-| DiT-S | bspline | discrete_joint | ttrtc | 0.025541 | 0.019057 | 84.87 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/efg4vkqh) |
-| DiT-B | raw | fm | base | 0.006808 | 0.008203 | 68.15 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/mz36ylrg) |
-| DiT-B | raw | fm | ttrtc | 0.007001 | 0.008187 | 68.32 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zip5w0in) |
-| DiT-B | raw | discrete_joint | base | 0.015395 | 0.019526 | 298.37 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/c7mgy7f0) |
-| DiT-B | raw | discrete_joint | ttrtc | 0.017608 | 0.020072 | 295.84 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/26qllqsn) |
-| DiT-B | bspline | fm | base | 0.007076 | 0.008330 | 37.31 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/f581nhyj) |
-| DiT-B | bspline | fm | ttrtc | 0.006578 | 0.008320 | 37.38 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/wo8veppb) |
-| DiT-B | bspline | discrete_joint | base | 0.025449 | 0.017233 | 167.97 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/lwoiqslq) |
-| DiT-B | bspline | discrete_joint | ttrtc | 0.026583 | 0.017078 | 163.03 | [run](https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/680zgije) |

NewModel/v2/evaluation/checkpoint_metrics.csv

@@ -1,17 +0,0 @@
-model_size,representation,architecture,stage,vision_tokens,parameters,learning_rate,fm_math_sdp_training,final_train_action_mse_normalized,final_validation_generation_action_mse_normalized,best_validation_generation_action_mse_normalized,max_gradient_norm_before_clip,max_applied_gradient_norm_before_clip,skipped_optimizer_updates,test_decoded_normalized_mse,test_decoded_physical_mse,test_decoded_physical_mae,token_accuracy,sampling_p50_ms,sampling_p95_ms,online_vision_p50_ms,projector_state_p50_ms,action_decode_p50_ms,estimated_online_pipeline_p50_ms,peak_memory_bytes,delay_mean_physical_mse_d0_d10,inference_rtc_suffix_physical_mse_prefix6,inference_rtc_fixed_control_max_abs,checkpoint,wandb_url,joint_legacy_vs_fused_tokens_equal,joint_fused_cache_speedup_percent
-DiT-S,raw,fm,base,512,15165063,0.0003,,0.0029405311215668917,0.007611372508108616,0.005651242798194289,11235.0625,5.432596206665039,5621,0.03278413414955139,0.010827033780515194,0.055057987570762634,,25.609177071601152,25.764709000941366,27.449054992757738,0.14400435611605644,0.003600027412176132,53.20583644788712,3053801472,0.007927644659172405,0.013020421535657078,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/fm_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/70newtq7,,
-DiT-S,raw,fm,ttrtc,512,15165063,3e-05,True,0.0007620042306371033,0.008253987645730376,0.006683151121251285,398.94580078125,99.63603973388672,4,0.027002356946468353,0.008332785218954086,0.04041185602545738,,15.390869113616645,25.665894977282733,25.25046339724213,0.40322355926036835,0.003590015694499016,41.04814608581364,3053801472,0.005657459101216359,0.009288144333368109,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/fm_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zt8fra2l,,
-DiT-S,raw,discrete_joint,base,512,13942656,0.0003,,0.0007439546170644462,0.02630086609860882,0.013556113612139598,7461.29443359375,7461.29443359375,0,0.07251627743244171,0.023261087015271187,0.0755176916718483,0.18200800229079117,150.8286549942568,151.68091267114505,10.725893080234528,0.1287864288315177,0.0034598633646965027,161.68679436668754,3051280896,0.011941417459059845,0.017662497690366763,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/discrete_joint_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/x1vtxm13,True,8.363530319450563
-DiT-S,raw,discrete_joint,ttrtc,512,13942656,3e-05,,0.0004794036503881216,0.025776462396606803,0.02080110472161323,48.994590759277344,48.994590759277344,0,0.07025458663702011,0.022972840815782547,0.07533711194992065,0.1791940439429469,156.2460963614285,160.97858464345336,10.733626433648169,0.1282829325646162,0.003439956344664097,167.11144568398595,3051280896,0.010807831941003149,0.01530362739461566,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/raw/checkpoints/discrete_joint_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/6cyontjw,True,7.740423876761667
-DiT-S,bspline,fm,base,512,15160455,0.0003,,0.0006228908896446228,0.008366058871615678,0.005902783130295575,6.161744594573975,6.161744594573975,0,0.027469003573060036,0.008506258949637413,0.04074931889772415,,24.01013404596597,25.717089080717415,27.250776533037424,0.28072413988411427,0.01983006950467825,51.561464788392186,3053785600,0.005641686687753959,0.008803958047394644,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/bspline/checkpoints/fm_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/k2plilzb,,
-DiT-S,bspline,fm,ttrtc,512,15160455,3e-05,True,0.0004820008762180805,0.008091769937891513,0.007013549969997257,0.6310064792633057,0.6310064792633057,0,0.027157114818692207,0.0084086824208498,0.04040170833468437,,24.30937287863344,25.741084828041494,24.77691601961851,0.2569190692156553,0.02013507764786482,49.36334304511547,3053785600,0.005479531997645443,0.008618163224610953,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/bspline/checkpoints/fm_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zxp7uffq,,
-DiT-S,bspline,discrete_joint,base,512,13910400,0.0003,,0.0013128224527463317,0.02412884496152401,0.01717015798203647,3074.87841796875,3074.87841796875,0,0.05861420929431915,0.019028501585125923,0.07036647200584412,0.1753151984432643,80.877153435722,87.6373715349473,11.08929340261966,0.1303039025515318,0.019719824194908142,92.1164705650881,3051154432,0.01347603081640872,0.017577628444996662,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/bspline/checkpoints/discrete_joint_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/ivclz1i6,True,6.691455073653973
-DiT-S,bspline,discrete_joint,ttrtc,512,13910400,3e-05,,0.00011480167449917644,0.025541410315781832,0.02051464607939124,62.698822021484375,62.698822021484375,0,0.059065911918878555,0.019057000055909157,0.07034346461296082,0.17397448297030735,84.86827090382576,85.36308950278908,11.284883017651737,0.13270450290292501,0.020339153707027435,96.30619757808745,3051154432,0.013499831780791283,0.018142815937608248,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_s/bspline/checkpoints/discrete_joint_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/efg4vkqh,True,7.796437714515729
-DiT-B,raw,fm,base,512,108242439,0.0003,,0.0004059684288222343,0.006807636236771941,0.005977545399218798,13.146452903747559,13.146452903747559,0,0.026299310848116875,0.008203062228858471,0.039421819150447845,,68.14560305792838,79.15673250099644,24.284930434077978,0.3838934935629368,0.003590015694499016,92.8180170012638,3430297088,0.005990955047309399,0.009612870682104813,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/raw/checkpoints/fm_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/mz36ylrg,,
-DiT-B,raw,fm,ttrtc,512,108242439,3e-05,True,0.000279848842183128,0.007000976940616965,0.006624369998462498,0.41416096687316895,0.41416096687316895,0,0.026332564651966095,0.008186652325093746,0.039151184260845184,,68.31508793402463,79.04026786563918,27.145380503498018,2.4518819991499186,0.0035800039768218994,97.91593044064939,3430297088,0.005986346736211668,0.009663080088131437,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/raw/checkpoints/fm_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/zip5w0in,,
-DiT-B,raw,discrete_joint,base,512,102866688,0.0003,,0.004878051578998566,0.015395493479445577,0.012664105743169785,6140.3642578125,6140.3642578125,0,0.05727294087409973,0.01952619105577469,0.06914391368627548,0.18185321910334099,298.3725970843807,299.7948649339378,10.768368490971625,0.20221550948917866,0.003390014171600342,309.3465710990131,3495086080,0.011129813861440529,0.015287991371451426,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/raw/checkpoints/discrete_joint_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/c7mgy7f0,True,2.414740245143914
-DiT-B,raw,discrete_joint,ttrtc,512,102866688,3e-05,,0.0006306321010924876,0.017608049791306257,0.015916215896140784,425.98095703125,425.98095703125,0,0.060134533792734146,0.020071540027856827,0.06971883028745651,0.1812526603360343,295.84470007102937,297.5359175587073,10.752880480140448,0.19246945157647133,0.00343983992934227,306.7934898426756,3495086080,0.010864841497757217,0.019207077830287744,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/raw/checkpoints/discrete_joint_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/26qllqsn,True,3.188657234613441
-DiT-B,bspline,fm,base,512,108233223,0.0003,True,0.0005018319934606552,0.007076276000589132,0.004812665632925928,14.658382415771484,14.658382415771484,0,0.02701067551970482,0.0083301467821002,0.04006267711520195,,37.305465433746576,37.3815459664911,10.662178508937359,0.19110145512968302,0.019539031200110912,48.17828442901373,3430262784,0.006727004000409083,0.007598264633571716,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/f581nhyj,,
-DiT-B,bspline,fm,ttrtc,512,108233223,3e-05,True,0.00029803236247971654,0.006578459637239575,0.006390218040905893,0.8381891250610352,0.8381891250610352,0,0.026906635612249374,0.008319936692714691,0.04002084955573082,,37.37532300874591,37.42408105172217,10.699692997150123,0.19416410941630602,0.020694569684565067,48.2898746849969,3430262784,0.006717652124776082,0.007804068618611382,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/fm_ttrtc.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-ttRTC/runs/wo8veppb,,
-DiT-B,bspline,discrete_joint,base,512,102802176,0.0003,,0.0018442507134750485,0.02544914884492755,0.018739063292741776,5947.6201171875,5947.6201171875,0,0.051736339926719666,0.017232971265912056,0.06372687965631485,0.18092130029130882,167.96900203917176,170.09635587455705,10.753903421573341,0.19300193525850773,0.02025044523179531,178.9361578412354,3489610752,0.015954520892013203,0.01368504150195804,0.0,/scratch/wangpc/B-Spline-Inpainting/robot_policy/outputs/FULL_VISION_512/dit_b/bspline/checkpoints/discrete_joint_base.pt,https://wandb.ai/401910710-university-of-california-berkeley/robot-policy-full-vision-512-basic/runs/lwoiqslq,True,2.862735001437179
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